M Salman
Advancing whisker based navigation through the implementation of bio-inspired whisking strategies
Salman, M; Pearson, Martin
Abstract
An active whisking tactile sensor array has been
successfully integrated with the RatSLAM algorithm and
demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introduced in order to evaluate the impact in performance of whisker-RatSLAM through the adoption of a biomimetic active whisker control scheme and different approaches to tactile sensory pre-processing. Improvements in performance are presented and discussed with respect to how whisker-RatSLAM could form the basis of a computationally efficient and robust localisation and mapping algorithm to adopt for tactile robotic exploration.
Presentation Conference Type | Conference Paper (unpublished) |
---|---|
Conference Name | IEEE International Conference On Robotics And Biomimetics (ROBIO 2016) |
Start Date | Dec 3, 2016 |
End Date | Dec 7, 2016 |
Acceptance Date | Sep 23, 2016 |
Publication Date | Jan 1, 2016 |
Deposit Date | Nov 28, 2016 |
Journal | IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
Peer Reviewed | Peer Reviewed |
ISBN | 9781509043651 |
Keywords | bio-inspired, whiskers, robots |
Public URL | https://uwe-repository.worktribe.com/output/922980 |
Publisher URL | http://dx.doi.org/10.1109/ROBIO.2016.7866416 |
Additional Information | Title of Conference or Conference Proceedings : IEEE International Conference On Robotics And Biomimetics (ROBIO 2016) |
Contract Date | Nov 28, 2016 |
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